The invention provides a transverse vehicle control method of an automatic driving system. The method comprises the following steps: acquiring the current position, vehicle body parameters and plannedtrack information of a vehicle; calculating a first expected value of the rotation angle of a front wheel through a Pure Push algorithm; meanwhile, calculating a second expected value of the rotationangle of the front wheel d through a PID control module; and calculating a final value of the front wheel rotation angle according to a following formula 1. In the formula 1: the final value of the front wheel rotation angle=A*a first expected value of the front wheel rotation angle + B*a second expected value of the front wheel rotation angle, wherein A and B are preset fixed coefficients. According to the method, the respective advantages of the Pure Push algorithm and the PID control module in transverse control are combined; on the premise that the comfort degree is guaranteed, the tracking precision during turning can be improved, and the vehicle speed application range of transverse control can be widened.
本发明提供一种自动驾驶系统车辆横向控制的方法,所述方法包括:获取车辆当前位置、车身参数和规划轨迹信息,通过Pure Pursuit算法计算得到前轮转动角度第一期望值,同时通过PID控制模块计算得到前轮转动角度第二期望值,根据下述公式一计算得到前轮转动角度最终值:公式一:前轮转动角度最终值=A*前轮转动角度第一期望值+B*前轮转动角度第二期望值,其中所述A和B为预设固定系数。本发明结合了Pure Pursuit算法和PID控制模块在横向控制里各自的优点,在保证舒适度的前提下,可以提高在拐弯时的跟踪精度,且可以提高横向控制的车辆速度适用范围。
Transverse vehicle control method of automatic driving system
自动驾驶系统车辆横向控制的方法
2020-09-18
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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